C++ (Cpp) AP_GPS::send_mavlink_gps2_rtk示例

/*
  send raw GPS position information (GPS_RAW_INT, GPS2_RAW, GPS_RTK and GPS2_RTK).
  returns true if messages fit into transmit buffer, false otherwise.
 */
bool GCS_MAVLINK::send_gps_raw(AP_GPS &gps)
{
    if (comm_get_txspace(chan) >=
            MAVLINK_MSG_ID_GPS_RAW_INT_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES) {
        gps.send_mavlink_gps_raw(chan);
    } else {
        return false;
    }

    if (gps.highest_supported_status(0) > AP_GPS::GPS_OK_FIX_3D) {
        if (comm_get_txspace(chan) >= MAVLINK_NUM_NON_PAYLOAD_BYTES+MAVLINK_MSG_ID_GPS_RTK_LEN) {
            gps.send_mavlink_gps_rtk(chan);
        }

    }

    if (gps.num_sensors() > 1 && gps.status(1) > AP_GPS::NO_GPS) {

        if (comm_get_txspace(chan) >= MAVLINK_NUM_NON_PAYLOAD_BYTES+MAVLINK_MSG_ID_GPS2_RAW_LEN) {
            gps.send_mavlink_gps2_raw(chan);
        }

        if (gps.highest_supported_status(1) > AP_GPS::GPS_OK_FIX_3D) {
            if (comm_get_txspace(chan) >=
                    MAVLINK_NUM_NON_PAYLOAD_BYTES+MAVLINK_MSG_ID_GPS2_RTK_LEN) {
                gps.send_mavlink_gps2_rtk(chan);
            }
        }
    }

    //TODO: Should check what else managed to get through...
    return true;

}

示例#2

显示文件

文件： GCS_Common.cpp 项目： AdiKulkarni/ardupilot

/*
  send raw GPS position information (GPS_RAW_INT, GPS2_RAW, GPS_RTK and GPS2_RTK).
  returns true if messages fit into transmit buffer, false otherwise.
 */
bool GCS_MAVLINK::send_gps_raw(AP_GPS &gps)
{

    int16_t payload_space = comm_get_txspace(chan) - MAVLINK_NUM_NON_PAYLOAD_BYTES;
    if (payload_space >= MAVLINK_MSG_ID_GPS_RAW_INT_LEN) {
        gps.send_mavlink_gps_raw(chan);
    } else {
        return false;
    }

#if GPS_RTK_AVAILABLE
    if (gps.highest_supported_status(0) > AP_GPS::GPS_OK_FIX_3D) {
        payload_space = comm_get_txspace(chan) - MAVLINK_NUM_NON_PAYLOAD_BYTES;
        if (payload_space >= MAVLINK_MSG_ID_GPS_RTK_LEN) {
            gps.send_mavlink_gps_rtk(chan);
        }

    }
#endif

#if GPS_MAX_INSTANCES > 1

    if (gps.num_sensors() > 1 && gps.status(1) > AP_GPS::NO_GPS) {

        payload_space = comm_get_txspace(chan) - MAVLINK_NUM_NON_PAYLOAD_BYTES;
        if (payload_space >= MAVLINK_MSG_ID_GPS2_RAW_LEN) {
            gps.send_mavlink_gps2_raw(chan);
        }

#if GPS_RTK_AVAILABLE
        if (gps.highest_supported_status(1) > AP_GPS::GPS_OK_FIX_3D) {
            payload_space = comm_get_txspace(chan) - MAVLINK_NUM_NON_PAYLOAD_BYTES;
            if (payload_space >= MAVLINK_MSG_ID_GPS2_RTK_LEN) {
                gps.send_mavlink_gps2_rtk(chan);
            }
        }
#endif
    }
#endif

    //TODO: Should check what else managed to get through...
    return true;

}